Sharif Digital Repository

A popular way for performing minimally invasive heart surgery is to use cardiac stabilizers that fix the heart during surgery. In the recent years several research works have been conducted to develop effective cardiac stabilizers. While these developments have attempted to improve fixation of the heart, there are reports indicating that a rigid cardiac stabilization may induce injury to heart muscle tissues due to restricting the heart motion in all directions. A more efficient approach than rigid cardiac stabilization might be to use a flexible cardiac stabilizer in combination with a surgical robot having motion compensation capability. The scope of this research is designing a device to... 

With the emergence of a variety of surgical glues in the market and utilizing them in recent years, nowadays, based on the post-surgery studies, it has become transparent that there are additional factors, such as the long-term effect of surgical glues on tissue, to consider beyond the sealants ability to act as a mechanical barrier or a means to buttress friable tissue so that it can hold sutures. Mechanical properties of the surgical glues have especially a significant role in the applications that the tissue undergoes cyclic loading (such as arteries’ tissues). A mismatch between the mechanical properties of the tissue and the sealant can result in the remodeling of the artery that may... 

An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future heart trajectory with a high accuracy in a long horizon. The main objective of this research was measurement and prediction of the heart motion for robotic assisted beating heart surgery. In this study, first the feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator. Simulator experiments revealed a high tracking accuracy when the capturing times were synchronized and the tracker pointed at the target from an appropriate distance.Then, the heart... 

In this study, a practical approach for robotic beating heart surgery was proposed. This approach eliminates lateral movements of the heart and compensates for normal heart movement by using 1 DOF heart stabilizer and 1 DOF heart compensator simultaneously. It is a compromise between complete fixation of the heart, which damages the heart tissue, on one hand and complex and impractical compensation of the free heart movement on the other. One of the core components of the proposed system is the slave robot, which includes a 1 DOF compensator and a 4 DOF tool holder robot. Based on the selected laparoscopic tool, a modified agile-eye mechanism for activating the wrist was introduced,... 

The Coronary artery bypass grafting surgery is one of the most complicated and invasive surgeries, in which the chest is cleaved up to 20 cm. Also, heart motion with 1-2Hz frequency bothers surgeons to perform on. This leads surgeons to get interested in minimally invasive robotic surgery methods. The idea is to synchronize the robot motion with heart, in order for surgeons to perceive it stationary. This needs 3 major stages: online taking of data, estimate the future heart motion, and control the robot. First studies employ visual seroving for control demand. Later studies, although differ in data collection methods, rely on classic error-based feedback controllers, such as PID. Fast... 

In this study, three recent predictors of severity of coronary stenosis including fractional flow reserve (FFR), instantaneous wave free-ratio (iFR) and coronary flow reserve (CFR), are calculated for a number of patient-specific models of left coronary arteries. These patients are admitted to Tehran heart center. The main aim is presenting the optimum numerical and clinical detection technique to assess the severity of coronary stenosis. The effect of geometric features of stenosis is studied on the results of the FFR, iFR, and CFR in order to determine their accuracy. It is observed that CFR does not have a good estimate of the amount of disease. But, iFR, as a less risky test than FFR,...